Abstract

The invention discloses a telescopic device based on combination of brain waves and memory alloys, which comprises a brain wave conversion unit, a current driving unit and a telescopic mechanism, wherein the brain wave conversion unit is used for converting a brain wave signal acquired in real time to an analog control signal; the current driving unit is used for converting the analog control signal into a power current signal; and based on the power current signal, the telescopic mechanism performs telescopic movement, and an initial state is recovered naturally in a no power current state. The invention further discloses a rehabilitation training system based on combination of brain waves and memory alloys. The technical scheme of the invention is based on combination of brain waves and memory alloys for realizing rehabilitation training, the training system has a small size, carrying is convenient, and the operation is simple and easy to operate. According to user requirements, proper training intensity is adjusted for rehabilitation training, special care is not needed, and consumption of manpower and materials is saved.

Description

Translated from Chinese

基于脑电波和记忆合金结合的伸缩装置及康复训练系统 Brain waves and telescopic device memory alloy bonded and Recovery System Based

[0002] 记忆合金(shape memory alloy)的产生与发展有已有一定历史。 [0002] memory alloy (shape memory alloy) has been the emergence and development of a certain history.1932年，瑞典人奥兰德在金镉合金中首次观察到〃记忆〃效应。 In 1932, the Swedes Orland first observed 〃 〃 memory effect in gold-cadmium alloy.1963年美国海军军械实验室的比勒在研究中发现N1-Ti合金的形状记忆效应。 In 1963 the US Navy Ordnance Laboratory Bulle found shape memory effect N1-Ti alloys in the study.合金的这种记忆效应是由合金的相变来实现的，随着温度的改变，合金的结构从一相转变到另一相。 This memory effect alloys is a phase change alloy to achieve, as the temperature changes, the structure of the alloy to transition from one phase to another phase.记忆合金的开发迄今不过20余年，但由于其在各领域的特效应用，正广为世人所瞩目，被誉为"神奇的功能材料〃。形状记忆合金加热之后会发生收缩形变，冷却后会恢复形变的这一特性。使其在仪器仪表、自动控制、汽车、航空航天、生物医学和机器人等领域有广泛的应用。 Memory alloy developed so far, but more than 20 years, but because of its special effects used in various fields, is widely attracted worldwide attention, known as the "magic of functional materials 〃 shape memory alloy shrinkage deformation occurs after heating, cooling will resume this feature deformation. it is widely used in the fields of instrumentation, automation, automotive, aerospace, biomedical and robotics.

[0003]例如利用记忆合金制成可以代替焊接的套管，利用其记忆效应，在低温时在管内扩张，加热后，管套收缩恢复回原来形状，这样的过程使接头间的结合变得更紧密。 [0003] For example instead of using memory alloy can be welded to the sleeve by its memory effect, expansion of the inner tube at a low temperature, after heating, contraction recovery sleeve back to its original shape, so that the process becomes more bonds between linker close.1970年美国F-14战斗机上的低温配合连接器就使用了这样的接头，多年来都没有发生漏油或损坏。 1970 US F-14 fighter hypothermia on the mating connectors on the use of such joints over the years did not happen leakage or damage.

[0004] 记忆合金也用于医学，例如齿科用的矫齿丝，脊柱侧弯矫形。 [0004] The memory alloys for medical, dental e.g. orthodontic wire used, scoliosis.利用TiNi形状记忆合金制做各种骨连接器、血管夹、凝血滤器的等。 Using TiNi shape memory alloy making various bone connector, vascular clips, and the like coagulation filter.而在康复治疗领域鲜有应有。 In the field of rehabilitation should be few.

[0005] 现今，各类可穿戴电子设备开始兴起，例如谷歌眼镜，智能手环等的出现极大地改变了人们的生活，基于此提出可穿戴的记忆合金康复训练装置。 [0005] Today, all kinds of wearable electronic devices began to rise, for example, it appears Google glasses, and other smart bracelet greatly changed people's lives, based on this proposed memory alloy wearable rehabilitation device.形状记忆合金的本身具有超弹性效应、高阻尼特性、电阻突变效应等一般金属不具备的力学特性，而且其质量轻，便于可以随意弯曲，便于人体穿戴。 The shape memory alloy has mechanical properties themselves generally metallic superelastic effects, high damping characteristic, and the like do not have the effect of resistance change, and its light weight, can be easy to be bent, easy to body- worn.形状记忆合金丝用于可穿戴的康复训练装置，将会有广阔的市场前景。 Shape memory alloy wire for rehabilitation wearable device, it will have broad market prospects.

[0006] 传统的康复训练装置通常庞大的机械设备，动作通过控制电机的运动来带动完成。 [0006] rehabilitation conventional devices typically bulky machinery, to drive the operation is done by controlling the motion of the motor.带来复杂的机械结构与电气连线。 Bring complicated mechanical structure and electrical wiring.装置的体积、重量等都比较大，不便于具体情况具体改装。 Volume of the device, so the weight is relatively large, it is not easy to retrofit specific conditions.还有康复训练者需要到特定的康复训练中心去进行康复治疗，并且通常需要在专家或相关人员的配合下才能完成。 There Rehabilitation trainers need to go to a specific rehabilitation center for rehabilitation and often require to be completed in cooperation with experts and relevant personnel.这样一来就浪费了大量的人力、财力。 Such an action would waste a lot of manpower and financial resources.

发明内容 SUMMARY

[0007] 本发明要解决的技术问题是提供一种基于脑电波和记忆合金结合的伸缩装置及康复训练系统，以解决现有技术中康复机械体积较大不方便使用，改装性能差使用不够灵活，需要有人监护下才能进行康复训练的问题。 [0007] The present invention is to solve the technical problem of providing a brainwave-based memory alloy and telescopic means binding and rehabilitation training system, in order to solve the prior art mechanical recovery inconvenient to use bulky, inflexible to use modified poor performance in order to carry out rehabilitation, the problem needs to be watched.

[0008] 为解决上述技术问题，本发明采用下述技术方案: [0008] To solve the above problems, the present invention adopts the following technical scheme:

[0009] 基于脑电波和记忆合金结合的伸缩装置，该装置包括 [0009] Based on the telescopic means brainwave memory alloy and bonded, the apparatus comprising

[0010] 脑电转换单元，对实时采集得到的脑电波信号进行处理，获得脑电控制信号，并将其转换为模拟控制信号； [0010] EEG conversion unit, real-time acquisition of the brain wave signals obtained are processed to obtain EEG control signal, and converts it to an analog control signal;

[0011] 电流驱动单元，将所述模拟控制信号转换为功率电流信号； [0011] The current driving means, the analog power control signal into a current signal;

[0012]伸缩机构，基于所述功率电流信号，进行收缩运动，在无功率电流状态下自然恢复初始状态。 [0012] The telescopic mechanism based on the power current signal, contraction, no power at current natural state restore the initial state.

[0019] 基于脑电波和记忆合金结合的康复训练系统，该系统包括如权利要求1所述的伸缩装置和可拆卸的仿生壳体，所述仿生壳体包括依次可活动连接的小臂部、手腕部和手部； [0019] rehabilitation of brain waves and memory system based alloy combination, the system includes a telescopic device and said removable housing as claimed in claim bionic, said housing comprising a biomimetic successively smaller arm movably connected, wrist and hand;

[0020] 所述伸缩装置中的伸缩机构与所述手腕和所述手部的手指连接。 A telescopic mechanism connected to [0020] the telescopic means and said wrist portion of the hand and finger.

[0021] 优选的，所述小臂部和手部上分别设有用于固定支撑所述伸缩机构的支撑挡片。 [0021] Preferably, the support flaps are provided for fixing the telescopic mechanism supported on said small arm and hand.

[0022] 优选的，所述手部的每个手指位置设有用于辅助伸缩机构牵引手指的滑轮。 [0022] Preferably, the hand position of each finger is provided with means for assisting the traction sheave retractable finger.

[0026] 本发明的有益效果如下: [0026] Advantageous effects of the present invention are as follows:

[0027] 本发明所述技术方案基于脑电和记忆合金结合实现手指关节与手腕关节的可穿戴康复训练，训练系统体积小携带方便，简单易行；本方案可根据用户需求调整合适的训练强度进行康复训练，无需专人开户，节省了人力物力的消耗。 [0027] The technical solutions of the present invention is based on EEG and memory alloy combination to achieve the finger joints and wrist wearable rehabilitation training, the training system is small and easy to carry, easy; the present embodiment can be suitably adjusted according to user needs training intensity rehabilitation training, no special accounts, saving manpower and resources consumption.

附图说明 BRIEF DESCRIPTION

[0028] 下面结合附图对本发明的具体实施方式作进一步详细的说明； [0028] DETAILED DESCRIPTION OF THE DRAWINGS Embodiment of the present invention will be described in further detail;

[0035] 为了更清楚地说明本发明，下面结合优选实施例和附图对本发明做进一步的说明。 [0035] In order to more clearly illustrate the present invention, the following examples and in conjunction with the accompanying drawings of the preferred embodiment of the present invention will be further described.附图中相似的部件以相同的附图标记进行表示。 Drawings in which like components are denoted by the same reference numerals.本领域技术人员应当理解，下面所具体描述的内容是说明性的而非限制性的，不应以此限制本发明的保护范围。 Those skilled in the art will appreciate, the content of the detailed description below are illustrative and not restrictive, and should not be used to limit the scope of the present invention.

[0036] 如图1所示，本发明公开了一种基于脑电波和记忆合金结合的伸缩装置，该装置包括对实时采集得到的脑电波信号进行处理分析，获得脑电控制信号，并将该脑电控制信号转换为模拟控制信号的脑电转换单元；将所述模拟控制信号转换为功率电流信号的电流驱动单元；以及，基于所述功率电流信号，进行伸缩运动的伸缩机构。 [0036] As shown in FIG. 1, the present invention discloses a telescopic device based on brainwave memory alloy and bonded, the apparatus comprising a real-time acquisition of the brain wave signal obtained by processing and analysis, EEG control signal is obtained, and the EEG control EEG signal into an analog control signal converting unit; the analog control signal into a current driving power current signal; and, based on the power current signal, the telescopic movement of the telescopic mechanism.其中，所述脑电转换单元包括用于实时采集用户的脑电波信号的脑电波信号采集模块；用于将采集的得到的脑电波信号处理为多个不同的脑电控制信号的脑电波处理模块；以及，将不同的脑电控制信号，转换为与其相对应的模拟控制信号的多个数模转换模块。 Wherein the conversion unit includes EEG signal acquisition module for brain wave brain wave signal real-time acquisition of the user; means for processing a signal obtained electroencephalogram collected into a plurality of different processing modules brainwave EEG signal control ; and the different EEG control signal into an analog control signal corresponding thereto a plurality of digital to analog conversion module.如图2所示，所述电流驱动单元包括多个电流放大器，分别将脑电转换单元输出的多个模拟控制信号转换为功率电流信号。 As shown, the plurality of current driving means comprises a current amplifier, respectively, a plurality of analog EEG conversion unit outputs a control signal into a current signal power of 2.本发明所述伸缩装置中，所述伸缩机构包括多个记忆合金。 The telescopic device according to the present invention, the telescopic mechanism comprises a plurality of memory alloys.本发明中所述脑电转换单元采用STM32型处理器。 The present invention uses the conversion unit STM32 EEG type processor.

[0037] 如图3所示，本发明进一步公开了一种基于脑电波和记忆合金结合的康复训练系统，该系统包括如上述的伸缩装置和可拆卸的仿生壳体，所述仿生壳体包括依次可活动连接的小臂部6、手腕部和手部5 ;所述小臂部6、手腕和手部5的各关键间可自由活动；所述伸缩装置的伸缩机构中的多个记忆合金分别与所述手腕和所述手部5的五根手指连接，通过记忆合金的收缩运动带动手腕和手指进行收缩运动，待停止提供功率电流信号时，记忆合金会通过手腕和手指的自然力回复原始长度。 [0037] As shown in FIG. 3, the present invention further discloses a system for rehabilitation training brainwave based memory alloy and in combination, the system comprising apparatus as described above telescopic and removable bionic housing, said housing comprising a biomimetic sequentially movable arm 6 connected to the small, hand and wrist portion 5; 6 of the small arm, wrist and hand between the respective key 5 of the freely movable; means in a plurality of telescopic mechanism of the telescopic memory alloy respectively connected to the wrist and the hand 5 of the five fingers, wrists and fingers driven by contraction of the shape memory alloy contraction, providing power current signal to be stopped, the shape memory alloy will return to the original through the natural forces of the wrist and fingers length.该系统所述小臂部6和手部5上分别设有用于固定支撑所述伸缩机构的支撑挡片2，该固定板上设有通孔，可将积极合金分别从通孔穿过，实现支撑固定。 The system is respectively provided on the small arm portions 5 and 6 the hand for fixing the support bracket to support the telescopic mechanism 2, the fixing plate is provided with a through hole, the alloy can be actively pass through the through hole, to achieve support fixed.为了防止记忆合金与仿生壳体出现摩擦致其磨损，在仿生壳体所述手部5的每个手指的指跟位置分别设有用于辅助记忆合金牵引手指的滑轮4，将记忆合金绕在滑轮4上，通过滑轮4辅助记忆合金牵引手指。 To prevent memory alloy actuator biomimetic housing friction wear occurs, pulleys are provided for assisting in the finger memory alloy traction bionic housing portion of the hand position of each finger of the finger 5 with 4, the shape memory alloy is wound around the pulleys 4, the traction sheave 4 by fingers auxiliary memory alloy.如图4所示，本方案中采用的记忆合金为N1-Ti合金丝，其最大型变量为总长的5%。 4, the shape memory alloy employed in the present embodiment is N1-Ti alloy wire, which is the largest 5% of the total length of the variable.更了提供安全性，在所述伸缩机构的外部包裹有线缆套筒1，起到绝缘隔热的作用。 Providing more security, the telescoping outer wrapping mechanism in a cable sleeve 1, play the role of thermal insulation.

[0038] 本发明所述康复训练系统的工作原理:用户佩戴上可拆卸的仿生壳体后，通过STM32型处理器实时采集康复训练者发出的脑电波信号，并对该脑电波信号进行处理处理获得多个不同的脑电控制信号，再对多个不同的脑电控制信号进行数模转换获得与其相对应的多个模拟控制信号，利用电流驱动单元，将多个弱电模拟信号变成功率电流信号后，发送给记忆合金，记忆合金根据该功率电流信号进行收缩形变，从而带动仿生壳体的手腕和手部上的各个手指进行收缩运动，待停止提供功率电流信号时，记忆合金会通过手腕和手部的自然力恢复原始状态，通过往复的收缩和复原训练，实现训练者的康复训练。 [0038] The present invention rehabilitation training system works: the user wears on a removable housing bionic, real-time acquisition by the processor STM32 type rehabilitation trainer brainwave signal emitted, and the electroencephalogram signal processing obtaining a plurality of different control EEG signal, and then a plurality of different EEG control signal digital-analog conversion to obtain a plurality of analog control signals thereto corresponding to the use of the current driving means, a plurality of analog signals becomes weak power current when the signal is transmitted to the shape memory alloy, memory alloy shrinkage deformation according to the power current signal, so as to drive the respective fingers on the hand and wrist housing is biomimetic contraction, stops supplying power to be a current signal, it will pass the wrist-memory alloy and the forces of nature to restore the original state of the hand, back and forth through the contraction and recovery training, to achieve rehabilitation trainer.在一定范围内通入电流越大，合金形变量也越大，通过这样的方式，康复训练者就可以自己完成康复训练。 Within a certain range through the current increases, the greater the deformation alloy, in such a way, the trainer can do its rehabilitation rehabilitation.

[0039] 下面通过一组实施例对本发明做进一步说明: [0039] By following a set of embodiments of the present invention is further described:

[0040] 形状记忆合金是一种受热后会收缩的合金材料，在记忆合金形变范围内，受热强度越大形变量越大，受热强度与形变量正相关。 [0040] Shape memory alloys are heated shrink latter alloy material, within a strain range memory alloy, the greater the intensity the greater the heat deformation, strength and heat deformation positive correlation.本发明采用N1-Ti合金丝，最大形变量为总长度的5%。 The present invention employs N1-Ti alloy wire, the maximum deformation of 5% of the total length.，即一米长的合金丝最大形变量为5cm。 , I.e., one meter long alloy wire maximum deformation of 5cm.利用这一特性，记忆合金具有一定的电阻，通过给记忆合金通电流，会产生焦耳热，从而使其发生收缩形变。 With this feature, a certain resistance memory alloys, shape memory alloy by a current, Joule heat so that it shrinks deformation.

[0041] 将伸缩机构制成抽丝结构，类似自行车刹车条，外面是空心线缆套筒1。 [0041] The structure is made of spinning telescopic mechanism, similar to a bicycle brake bar, outside the cable sleeve 1 is hollow.这样可以使内部的记忆合金得到保护。 This allows the interior of the protected memory alloy.伸缩机构内部包括多根并联的记忆合金丝3，每单根记忆合金丝3采用折叠后与其它折叠后的合金并联排布。 Inner telescopic mechanism comprises a plurality of parallel memory alloy wire 3, each single memory alloy wire 3 using alloy folded arranged in parallel with the other folded.在实际应用中可根据负载力的不同配置不同数量的合金丝，即拉动手指所用的力小于拉动手腕所需的力，因此实际应用中，根据上述原理，需调整与手腕和手指连接记忆合金的数量。 In a practical application according alloy wire is different a different number of configuration load force, i.e. pulling the finger force used is less than the force required to pull the wrist, the actual application, the above-described principle, for an adjustment of the wrist and fingers Memory Alloys of number.

[0042] 如图4所示，a与b为同一根合金丝的不同两端，通过回绕的方式引出，这样可以使通电更为方便。 [0042] As shown, A and b are the same at both ends of a different alloy wire, wrap-around manner by extraction 4, so that the power can be more convenient.a与b只是多根合金丝里的一个代表，将电流源正负一起接在多根记忆合金ab两端，通电后即可控制通入记忆合金的电流，继而控制记忆合金的收缩。 only a and b plurality alloy wire in a representative, will be connected to both ends of the plurality of memory alloy ab current source with positive and negative, to control the current passed after power-memory alloy, which in turn controls the contraction of the shape memory alloy.

[0043] 电流驱动单元集成了多个电流放大器，如图2所示，为电流放大器的电路图。 [0043] The current drive unit incorporates a plurality of current amplifiers, shown in Figure 2, a circuit diagram of a current amplifier.将脑电转换单元提供的控制信号经过三极管放大成电流信号，a与b为记忆合金的两端。 A control signal converting unit EEG supplied through a current amplification transistor targeting signal, a and b are both ends of the shape memory alloy.

[0044] 该装置基于采集到的脑电波信号进行分析处理，并结合手指的动力学模型、手腕恢复动力学模型得到特定的连续电流信号，参与控制记忆合金丝的伸缩实现训练者的康复训练运动。 [0044] The acquisition means based on brain wave signal analysis, combined with the dynamic model of the finger, wrist recovery dynamics model resulting in particular continuous current signals involved in the control memory alloy wire to achieve the telescopic movement rehabilitation trainer .其具体工作过程:用户佩戴上可拆卸的仿生壳体后，通过STM32型处理器实时采集康复训练者发出的脑电波信号，并对该脑电波信号进行处理获得多个不同的脑电控制信号，再对多个不同的脑电控制信号进行数模转换获得与其相对应的多个模拟控制信号。 Its specific working process: after the user wears on a removable housing bionic, real-time acquisition by the processor type STM32 brainwave signal emitted rehabilitation trainer, and obtaining a plurality of different signals are processed EEG control the brain wave signal, then a plurality of different control signals EEG analog conversion obtained therewith a plurality of control signals corresponding to the analog.利用电流驱动单元，将多个弱电模拟信号变成功率电流信号后，发送给记忆合金，记忆合金根据该功率电流信号进行收缩形变，从而带动仿生壳体的手腕和手部上的各个手指进行收缩运动。 After using the current driving means, a plurality of the weak power of the analog signal to a current signal, is sent to memory alloy, memory alloy shrinkage deformation according to the power current signal, so as to drive the respective fingers on the hand and wrist housing is contracted bionic motion.待停止提供功率电流信号时，记忆合金会通过手腕和手部的自然力恢复原始状态，通过往复的收缩和复原训练，实现训练者的康复训练。 Be stopped when the current signal to provide power, memory alloy will return to the original state by the natural forces of the wrist and hand by contraction and rehabilitation training reciprocating realize rehabilitation trainer.在一定范围内通入电流越大，合金形变量也越大，通过这样的方式，康复训练者就可以自己完成康复训练。 Within a certain range through the current increases, the greater the deformation alloy, in such a way, the trainer can do its rehabilitation rehabilitation.

[0045] 综上所述，本发明所述技术方案基于脑电和记忆合金结合实现手指关节与手腕关节的可穿戴康复训练，训练系统体积小携带方便，简单易行；本方案可根据用户需求调整合适的训练强度进行康复训练，无需专人开户，节省了人力物力的消耗。 [0045] In summary, the present invention is based on the aspect and EEG memory alloy combination to achieve the finger joints and wrist wearable rehabilitation training, the training system is small and easy to carry, easy; the program according to user needs the right to adjust the training intensity rehabilitation training, no special accounts, saving manpower and resources consumption.

[0046] 显然，本发明的上述实施例仅仅是为清楚地说明本发明所作的举例，而并非是对本发明的实施方式的限定，对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式的变化或变动，这里无法对所有的实施方式予以穷举，凡是属于本发明的技术方案所引伸出的显而易见的变化或变动仍处于本发明的保护范围之列。 [0046] Clearly, the above-described embodiments of the invention are merely illustrative of the present invention is done for clarity of illustration, and are not limiting embodiment of the present invention, those of ordinary skill in the art, on the basis of the above description of the You can also make changes or other changes in different forms, there can not be exhaustive of all embodiments, the obvious change or change who belong to the invention of technical solutions corollary still in the columns of the scope of protection of the present invention.

Claims (10)

Translated from Chinese

1.基于脑电波和记忆合金结合的伸缩装置，其特征在于，该装置包括脑电转换单元，对实时采集得到的脑电波信号进行处理，获得脑电控制信号，并将其转换为模拟控制信号； 电流驱动单元，将所述模拟控制信号转换为功率电流信号； 伸缩机构，基于所述功率电流信号，进行收缩运动，在无功率电流状态下自然恢复初始状态。 1. brainwave telescopic device based memory alloy and bonded, characterized in that the device comprises a conversion unit EEG, real-time acquisition of the brain wave signals obtained are processed to obtain EEG control signal, and converts it to an analog control signal ; current driving means, the analog power control signal into a current signal; telescopic mechanism based on the power current signal, contraction, no power at current natural state restore the initial state.

2.根据权利要求1所述的伸缩装置，其特征在于，所述脑电转换单元包括脑电波信号采集模块，用于实时采集用户的脑电波信号； 脑电波处理模块，用于将采集的得到的脑电波信号处理为多个不同的脑电控制信号； 多个数模转换模块，将不同的脑电控制信号，转换为与其相对应的模拟控制信号。 2. A telescopic device according to claim 1, wherein said converting means comprises a brainwave EEG signal acquisition means for real-time acquisition of the electroencephalogram signal of the user; electroencephalogram processing module, for obtaining the collected brain wave signal into a plurality of different control EEG signal; a plurality of digital to analog conversion module, different control EEG signal into an analog control signal corresponding thereto.

3.根据权利要求1所述的伸缩装置，其特征在于，所述电流驱动单元包括多个电流放大器。 3. A telescopic device according to claim 1, wherein said current driving means comprises a plurality of current amplifiers.

4.根据权利要求1所述的伸缩装置，其特征在于，所述伸缩机构包括多个记忆合金。 4. A telescopic device according to claim 1, characterized in that said telescoping means comprises a plurality of memory alloys.

5.基于脑电波和记忆合金结合的康复训练系统，其特征在于，该系统包括如权利要求1所述的伸缩装置和可拆卸的仿生壳体，所述仿生壳体包括依次可活动连接的小臂部、手腕部和手部； 所述伸缩装置中的伸缩机构与所述手腕和所述手部的手指连接。 The brain waves and rehabilitation training system based memory alloy combination, characterized in that the system comprises a telescopic means and a detachable housing biomimetic as recited in claim 1, said housing comprising a biomimetic small turn movably connected arm, wrist and hand; the telescoping telescopic mechanism connected to the fingers and wrist of the hand portion of the apparatus.

6.根据权利要求5所述的康复训练系统，其特征在于，所述小臂部和手部上分别设有用于固定支撑所述伸缩机构的支撑挡片。 6. rehabilitation training system according to claim 5, characterized in that the supporting flaps are provided for fixing the telescopic mechanism supported on said small arm and hand.

7.根据权利要求5所述的康复训练系统，其特征在于，所述手部的每个手指位置设有用于辅助伸缩机构牵引手指的滑轮。 7. rehabilitation training system according to claim 5, wherein each finger position of the hand is provided with means for assisting the traction sheave retractable finger.

9.根据权利要求8所述的伸缩装置，其特征在于，所述记忆合金为N1-Ti合金丝，其最大型变量为总长的5%。 9. A telescopic device according to claim 8, characterized in that the memory alloy is a N1-Ti alloy wire, which is the largest 5% of the total length of the variable.

10.根据权利要求8所述的伸缩装置，其特征在于，所述伸缩机构的外部包裹有线缆套筒ο 10. A telescopic device according to claim 8, characterized in that the telescopic mechanism outer wrapping a cable sleeve ο

CN201510577972.1A2015-09-112015-09-11Telescopic device and rehabilitation training system based on combination of brain waves and memory alloys
CN105266798A
(en)